#ifndef MAHONY_H
#define MAHONY_H

// Variable declarations
extern volatile float twoKp;
extern volatile float twoKi;
extern volatile float integralFBx;
extern volatile float integralFBy;
extern volatile float integralFBz;

// Function declarations
void MahonyAHRSupdateIMU(float q[4], float gx, float gy, float gz, float ax, float ay, float az);

#endif // MAHONY_H